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Fixed throttle problem in 3D // Tested

This commit is contained in:
borisbstyle 2016-02-08 22:58:09 +01:00
parent 3fc14404dc
commit 1d60ef46ba
1 changed files with 3 additions and 4 deletions
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7
src/main/flight/mixer.c
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@ -781,11 +781,10 @@ void mixTable(void)
int16_t rollPitchYawMixRange = rollPitchYawMixMax - rollPitchYawMixMin; int16_t rollPitchYawMixRange = rollPitchYawMixMax - rollPitchYawMixMin;
int16_t throttleRange, throttle; int16_t throttleRange, throttle;
int16_t throttleMin, throttleMax; int16_t throttleMin, throttleMax;
static int16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions
// Find min and max throttle based on condition // Find min and max throttle based on condition
if (feature(FEATURE_3D)) { if (feature(FEATURE_3D)) {
static int16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions
if (rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) { // Out of deadband handling if (rcData[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) { // Out of deadband handling
throttleMax = flight3DConfig->deadband3d_low; throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle; throttleMin = escAndServoConfig->minthrottle;
@ -800,7 +799,7 @@ void mixTable(void)
throttleMax = escAndServoConfig->maxthrottle; throttleMax = escAndServoConfig->maxthrottle;
throttle = throttleMin = flight3DConfig->deadband3d_high; throttle = throttleMin = flight3DConfig->deadband3d_high;
// When coming from negative. Keep negative throttle within deadband // When coming from negative. Keep negative throttle within deadband
} else if (throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) { } else {
throttle = throttleMax = flight3DConfig->deadband3d_low; throttle = throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle; throttleMin = escAndServoConfig->minthrottle;
} }
@ -837,7 +836,7 @@ void mixTable(void)
if (isFailsafeActive) { if (isFailsafeActive) {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle); motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
} else if (feature(FEATURE_3D)) { } else if (feature(FEATURE_3D)) {
if (throttle >= flight3DConfig->deadband3d_high) { if (throttlePrevious >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle); motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
} else { } else {
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, flight3DConfig->deadband3d_low); motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, flight3DConfig->deadband3d_low);